EP1365892A1 - Robotic device wich moves by alternately connecting each of its ends to docking stations - Google Patents

Robotic device wich moves by alternately connecting each of its ends to docking stations

Info

Publication number
EP1365892A1
EP1365892A1 EP02729432A EP02729432A EP1365892A1 EP 1365892 A1 EP1365892 A1 EP 1365892A1 EP 02729432 A EP02729432 A EP 02729432A EP 02729432 A EP02729432 A EP 02729432A EP 1365892 A1 EP1365892 A1 EP 1365892A1
Authority
EP
European Patent Office
Prior art keywords
robotic
robotic device
connection
connecting parts
selectively
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP02729432A
Other languages
German (de)
French (fr)
Other versions
EP1365892B1 (en
Inventor
Michael John c/o Rehab Robotics Ltd TOPPING
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rehab Robotics Ltd
Staffordshire University
Original Assignee
Rehab Robotics Ltd
Staffordshire University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rehab Robotics Ltd, Staffordshire University filed Critical Rehab Robotics Ltd
Publication of EP1365892A1 publication Critical patent/EP1365892A1/en
Application granted granted Critical
Publication of EP1365892B1 publication Critical patent/EP1365892B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages

Definitions

  • This invention concerns improvements in or relating to robotic devices and also robotic systems.
  • Robotic systems and devices are used in a wide range of applications. Such arrangements often tend not to be particularly flexible, and are suited to only carrying out a single job or limited range of jobs. Such systems are also often quite bulky. Robotic systems have the potential for providing assistance to disabled persons. However, in view of the above and other disadvantages, to date such systems have generally not been usable for such applications to any significant degree.
  • a robotic device comprising a movable body which mounts at least two spaced connecting parts, the device being arranged such that one of the connecting parts can be selectively connected to a first connection member, the body then moved such that another of the connecting parts is selectively connected to a second connection member, and thereafter said one connecting part can be disconnected from the first connection member, the body further moved, and said one or another connecting part can then be connected to a third connection member, whereby to permit the robotic device to move around a network of connection members.
  • the robotic device is pre erably controllable, and desirably automatically selectively connects and disconnects with a connection member as required.
  • the connecting parts preferably provide a power connection between connected connection parts and members, which power connection permits movement of the robotic member to take place.
  • the power connection may connect any of electrical, pneumatic, hydraulic or mechanical power.
  • the connecting parts preferably provide a signal connection between connected connection parts and members to provide control of the robotic device and/or an indication of the location thereof.
  • the connecting parts may be arranged such that a tool or other item can be selectively mounted thereon.
  • the robotic device may have a flexible form, and the flexible form may be provided by any of pivoted linkages, ball and socket connections or elastomeric joints.
  • the robotic device may comprise control means to selectively change the flexible shape thereof, and the control means may comprise any of electric motors, solenoids, smart materials, pneumatic or hydraulic devices, or mechanical means.
  • the robotic device may be substantially elongate, with a respective connecting part substantially at each end thereof.
  • the robotic device may be substantially symmetrical about a midpoint thereof.
  • the robotic device may be in the form of a robotic arm.
  • the invention also provides a robotic system, the system comprising a robotic device according to any of the preceding nine paragraphs, and a plurality of spaced docking stations, each docking station comprising a connection member connectable respectively with the connecting parts on the robotic device.
  • the system preferably comprises a control arrangement for sending a signal to the robotic device to cause movement thereof.
  • the control arrangement may also identify the location of the robotic device.
  • the control arrangement may comprise a PC or other programmable control device.
  • the control arrangement may permit human interaction to enable control of the system.
  • One or more tool stations may be provided which locate one or more tools or other items which are selectively connectable to the connecting parts on the robotic device to be operated by the robotic device.
  • the system may comprise a plurality of robotic devices.
  • the system may comprise one or more vehicles, which vehicles may be controllable by the control arrangement. Means may be provided for guiding the or one or more of the vehicles. One or more docking stations and/or tool stations may be provided on the or each vehicle.
  • the or each vehicle may be in the form of a wheelchair or truck.
  • Human interfaces may be provided at some or all of the docking stations, to provide local control of the system.
  • Figs. 1A-E are diagrammatic views of a robotic device according to the invention progressively moving from a first to a second location;
  • Fig. 2 is a schematic view of a robotic system according to the invention.
  • Figs. 1A-E show a robotic device in the form of a robotic arm 10.
  • the arm 10 comprises a plurality of interconnected segments 12 which are flexible relative to each other to permit the arm 10 to be bent as shown for instance in Figs. 1B-D.
  • the segments 12 can be connected in a number of different ways to permit flexing, such as by pivoted linkages, ball and socket connections or elastomeric joints.
  • the segments 12 can be moved relative to each other by the provision of any of electric motors, solenoids, smart materials, pneumatic or hydraulic devices, or mechanical means.
  • the arm 10 is symmetrical about a midpoint and is provided with a connection part 14 at each end with a male connection 16.
  • the connection parts 14 permit an electrical connection to be made and also a signal connection to be made. In some instances a pneumatic, hydraulic and/or mechanical connection may also be made.
  • Figs. 1A-E illustrate the robotic arm 10 moving from a first docking station 18 to a second such station 20.
  • a first end 22 of the arm 10 is connected with the first docking station 18.
  • the arm 10 is caused to bend as shown progressively in the drawings to a U-shaped configuration as shown in Fig. 1C, at which point the second end 24 connects with the second docking station 20.
  • the first end 22 can disconnect from the first docking station 18 and the arm 10 flex back to a straight alignment as shown in Fig. IE.
  • This arrangement permits the arm 10 to move around a network of docking stations whilst being remotely controlled and providing automatic connection and disconnection from the respective docking stations.
  • Fig. 2 shows a schematic robotic arrangement with four such arms 10 illustrated.
  • seven such docking stations 26 are illustrated, with six provided in a line connected to a power supply 28 and to a command unit 30 in the form of a PC.
  • One docking station 26 is illustrated movably mounted for instance on a rail 31.
  • a one of the arms 10 is illustrated moving between a two of the docking stations 26.
  • a tool station 32 is provided for each of the above six docking stations 26. Each tool station 32 permits one or more tools or other implements to be held and selectively picked up by a one of the arms 10 as is illustrated at 34. Two vehicles 36,38 are also illustrated. The vehicles 36, 38 can be controlled by a remote signal such as a radio signal, as is diagrammatically shown by the broken lines 39.
  • the first vehicle 36 is provided with a docking station 26 and tool station 32.
  • the vehicle 36 is guided by a track 40 to be movable along a required path.
  • the second vehicle 38 is autonomous so can move or be driven where required.
  • the vehicle 38 is again provided with a docking station 26 and tool station 32.
  • the vehicle 38 is provided with a human machine interface 42 to permit a user to input a signal to the vehicle 38 for instance to drive the vehicle 38 and/or operate an arm 10, and the interface 42 may be operable by a person riding on the vehicle 38.
  • Similar such interfaces 42 are provided connected to two of the docking stations 26, to permit local control of the system.
  • the command unit 30 can run to a pre-arranged program or can have instructions input to it at any of the interfaces 42. This will cause the arms 10 to move as required and also to pick-up tools as required to carry out required steps. Similarly the vehicles 36,38 will move as required and can pickup arms 10 for use with particular tools as appropriate.
  • the arrangement shown is very general and can be used in a wide range of applications. For instance, such an arrangement could be used in a house or elsewhere to provide assistance to a disabled person or persons. Jobs such as feeding could be carried out at one or more docking or tool stations.
  • the vehicles could be used to carry items, or could be in the form of a wheelchair to transport a person where required.
  • the arrangement of the movable robotic arms enables floor space to be kept clear, as the docking stations for instance can be provided at a required height on the walls. This arrangement permits a relatively small number of robotic arms to be used to carry out a number of tasks.
  • the invention is usable in a wide range of different applications, and could be used for instance in a manufacturing capacity in a factory or otherwise.
  • Various other modifications may be made to the embodiment described above.
  • the robotic device need not be elongate with two connecting parts, and could for instance have more than two connecting parts.
  • Different connection means could be used for instance the connection parts on the arms may be other than male members.
  • the vehicle guide means may be other than a track, and may move the vehicle other than along a fixed path.
  • the command unit is indicated as a PC, other types of programmable control devices could be used.

Abstract

A robotic arm comprises a plurality of interconnected segments which are flexible relative to each other to permit the arm to be bent. A connection part is provided at each end of the arm for electrical connection with a selected docking station. The robotic arm can be moved between a first and a second docking station by bending the arm such that the second end of the arm is connecting to the second docking station and then disconnecting the first end of the arm from the first docking station. In this way the robotic arm can be moved around a network of docking stations.

Description

ROBOTIC DEVICE ICH MOVES BY ALTERNATELY CONNECTING EACH OF ITS ENDS TO DOCKING STATIONS
This invention concerns improvements in or relating to robotic devices and also robotic systems.
Robotic systems and devices are used in a wide range of applications. Such arrangements often tend not to be particularly flexible, and are suited to only carrying out a single job or limited range of jobs. Such systems are also often quite bulky. Robotic systems have the potential for providing assistance to disabled persons. However, in view of the above and other disadvantages, to date such systems have generally not been usable for such applications to any significant degree.
According to the present invention there is provided a robotic device, the device comprising a movable body which mounts at least two spaced connecting parts, the device being arranged such that one of the connecting parts can be selectively connected to a first connection member, the body then moved such that another of the connecting parts is selectively connected to a second connection member, and thereafter said one connecting part can be disconnected from the first connection member, the body further moved, and said one or another connecting part can then be connected to a third connection member, whereby to permit the robotic device to move around a network of connection members.
The robotic device is pre erably controllable, and desirably automatically selectively connects and disconnects with a connection member as required.
The connecting parts preferably provide a power connection between connected connection parts and members, which power connection permits movement of the robotic member to take place. The power connection may connect any of electrical, pneumatic, hydraulic or mechanical power. The connecting parts preferably provide a signal connection between connected connection parts and members to provide control of the robotic device and/or an indication of the location thereof.
The connecting parts may be arranged such that a tool or other item can be selectively mounted thereon.
The robotic device may have a flexible form, and the flexible form may be provided by any of pivoted linkages, ball and socket connections or elastomeric joints.
The robotic device may comprise control means to selectively change the flexible shape thereof, and the control means may comprise any of electric motors, solenoids, smart materials, pneumatic or hydraulic devices, or mechanical means.
The robotic device may be substantially elongate, with a respective connecting part substantially at each end thereof.
The robotic device may be substantially symmetrical about a midpoint thereof.
The robotic device may be in the form of a robotic arm.
The invention also provides a robotic system, the system comprising a robotic device according to any of the preceding nine paragraphs, and a plurality of spaced docking stations, each docking station comprising a connection member connectable respectively with the connecting parts on the robotic device.
The system preferably comprises a control arrangement for sending a signal to the robotic device to cause movement thereof. The control arrangement may also identify the location of the robotic device. The control arrangement may comprise a PC or other programmable control device. The control arrangement may permit human interaction to enable control of the system.
One or more tool stations may be provided which locate one or more tools or other items which are selectively connectable to the connecting parts on the robotic device to be operated by the robotic device.
The system may comprise a plurality of robotic devices.
The system may comprise one or more vehicles, which vehicles may be controllable by the control arrangement. Means may be provided for guiding the or one or more of the vehicles. One or more docking stations and/or tool stations may be provided on the or each vehicle.
The or each vehicle may be in the form of a wheelchair or truck.
Human interfaces may be provided at some or all of the docking stations, to provide local control of the system.
An embodiment of the present invention will now be described by way of example only and with reference to the accompanying drawings, in which:-
Figs. 1A-E are diagrammatic views of a robotic device according to the invention progressively moving from a first to a second location; and
Fig. 2 is a schematic view of a robotic system according to the invention.
Figs. 1A-E show a robotic device in the form of a robotic arm 10. The arm 10 comprises a plurality of interconnected segments 12 which are flexible relative to each other to permit the arm 10 to be bent as shown for instance in Figs. 1B-D. The segments 12 can be connected in a number of different ways to permit flexing, such as by pivoted linkages, ball and socket connections or elastomeric joints. The segments 12 can be moved relative to each other by the provision of any of electric motors, solenoids, smart materials, pneumatic or hydraulic devices, or mechanical means.
The arm 10 is symmetrical about a midpoint and is provided with a connection part 14 at each end with a male connection 16. The connection parts 14 permit an electrical connection to be made and also a signal connection to be made. In some instances a pneumatic, hydraulic and/or mechanical connection may also be made.
Figs. 1A-E illustrate the robotic arm 10 moving from a first docking station 18 to a second such station 20. In Fig. 1A a first end 22 of the arm 10 is connected with the first docking station 18. The arm 10 is caused to bend as shown progressively in the drawings to a U-shaped configuration as shown in Fig. 1C, at which point the second end 24 connects with the second docking station 20. Once this has been completed the first end 22 can disconnect from the first docking station 18 and the arm 10 flex back to a straight alignment as shown in Fig. IE. This arrangement permits the arm 10 to move around a network of docking stations whilst being remotely controlled and providing automatic connection and disconnection from the respective docking stations.
Fig. 2 shows a schematic robotic arrangement with four such arms 10 illustrated. In this instance seven such docking stations 26 are illustrated, with six provided in a line connected to a power supply 28 and to a command unit 30 in the form of a PC. One docking station 26 is illustrated movably mounted for instance on a rail 31. In the middle of Fig. 2 a one of the arms 10 is illustrated moving between a two of the docking stations 26.
A tool station 32 is provided for each of the above six docking stations 26. Each tool station 32 permits one or more tools or other implements to be held and selectively picked up by a one of the arms 10 as is illustrated at 34. Two vehicles 36,38 are also illustrated. The vehicles 36, 38 can be controlled by a remote signal such as a radio signal, as is diagrammatically shown by the broken lines 39. The first vehicle 36 is provided with a docking station 26 and tool station 32. The vehicle 36 is guided by a track 40 to be movable along a required path.
The second vehicle 38 is autonomous so can move or be driven where required. The vehicle 38 is again provided with a docking station 26 and tool station 32. The vehicle 38 is provided with a human machine interface 42 to permit a user to input a signal to the vehicle 38 for instance to drive the vehicle 38 and/or operate an arm 10, and the interface 42 may be operable by a person riding on the vehicle 38. Similar such interfaces 42 are provided connected to two of the docking stations 26, to permit local control of the system.
In use the command unit 30 can run to a pre-arranged program or can have instructions input to it at any of the interfaces 42. This will cause the arms 10 to move as required and also to pick-up tools as required to carry out required steps. Similarly the vehicles 36,38 will move as required and can pickup arms 10 for use with particular tools as appropriate. The arrangement shown is very general and can be used in a wide range of applications. For instance, such an arrangement could be used in a house or elsewhere to provide assistance to a disabled person or persons. Jobs such as feeding could be carried out at one or more docking or tool stations. The vehicles could be used to carry items, or could be in the form of a wheelchair to transport a person where required.
The arrangement of the movable robotic arms enables floor space to be kept clear, as the docking stations for instance can be provided at a required height on the walls. This arrangement permits a relatively small number of robotic arms to be used to carry out a number of tasks.
Whilst one application is described above, the invention is usable in a wide range of different applications, and could be used for instance in a manufacturing capacity in a factory or otherwise. Various other modifications may be made to the embodiment described above. For instance, the robotic device need not be elongate with two connecting parts, and could for instance have more than two connecting parts. Different connection means could be used for instance the connection parts on the arms may be other than male members.
The vehicle guide means may be other than a track, and may move the vehicle other than along a fixed path. Whilst the command unit is indicated as a PC, other types of programmable control devices could be used.
Whilst endeavouring in the foregoing specification to draw attention to those features of the invention believed to be of particular importance it should be understood that the Applicant claims protection in respect of any patentable feature or combination of features hereinbefore referred to and/or shown in the drawings whether or not particular emphasis has been placed thereon.

Claims

1. A robotic device, the device comprising a movable body which mounts at least two spaced connecting parts, the device being arranged such that one of the connecting parts can be selectively connected to a first connection member, the body then moved such that another of the connecting parts is selectively connected to a second connection member, and thereafter said one connecting part can be disconnected from the first connection member, the body further moved, and said one or another connecting part can then be connected to a third connection member, whereby to permit the robotic device to move around a network of connection members.
2. A robotic device according to claim 1, characterised in that the robotic device is controllable.
3. A robotic device according to claim 2, characterised in that the robotic' device automatically selectively connects and disconnects with a connection member as required.
4. A robotic device according to any preceding claim, characterised in that the connecting parts provide a power connection between connected connection parts and members, which power connection permits movement of the robotic member to take place.
5. A robotic device according to claim 4, characterised in that the power connection connects any of electrical, pneumatic, hydraulic or mechanical power.
6. A robotic device according to any preceding, characterised in that the connecting parts provide a signal connection between connected connection parts and members to provide control of the robotic device and/or an indication of the location thereof.
7. A robotic device according to any preceding claim, characterised in that the connecting parts are arranged such that a tool or other item can be selectively mounted thereon.
8. A robotic device according to any preceding claim, characterised in that the robotic device has a flexible form.
9. A robotic device according to claim 8, characterised in that the flexible form is provided by any of pivoted linkages, ball and socket connections or elastomeric joints.
10. A robotic device according to any preceding claims, characterised in that the robotic device comprises control means to selectively change the flexible shape thereof.
11. A robotic device according to claim 9, characterised in that the control means comprises any of electric motors, solenoids, smart materials, pneumatic or hydraulic devices, or mechanical means.
12. A robotic device according to any preceding claims, characterised in that the robotic device is substantially elongate, with a respective connecting part substantially at each end thereof.
13. A robotic device according to any preceding claims, characterised in that the robotic device is substantially symmetrical about a midpoint thereof.
14. A robotic device according to any preceding claim, characterised in that the robotic device is in the form of a robotic arm.
15. A robotic system, the system comprising a robotic device according to any of the preceding claims, and a plurality of spaced docking stations, each docking station comprising a connection member connectable respectively with the connecting parts on the robotic device.
16. A robotic system according to claim 15, characterised in that the system comprises a control arrangement for sending a signal to the robotic device to cause movement thereof.
17. A robotic system according to claim 16, characterised in that the control arrangement identifies the location of the robotic device.
18. A robotic system according to claim 16 or 17, characterised in that the control arrangement comprises a PC.
19. A robotic system according to any of claims 16-18, characterised in that the control arrangement may permit human interaction to enable control of the system.
20. A robotic system according to any of claims 15-19, characterised in that one or more tool stations are provided which locate one or more tools or other items which are selectively connectable to the connecting parts on the robotic device to be operated by the robotic device.
21. A robotic system according to any of claims 15-20, characterised in that the system comprises a plurality of robotic devices.
22. A robotic system according to any of claims 15-21, characterised in that the system may comprise one or more vehicles.
23. A robotic system according to claim 22, characterised in that the or each vehicle is controllable by the control arrangement.
24. A robotic system according to claim 22 or 23, characterised in that means are provided for guiding the or one or more of the vehicles along a fixed path.
25. A robotic system according to any of claims 22-24, characterised in that one or more docking stations and/or tool stations are provided on the or each vehicle.
26. A robotic system according to any of claims 22-25, characterised in that the or each vehicle is in the form of a wheelchair or truck.
27. A robotic system according to any of claims 15-26, characterised in that human interfaces are provided at some or all of the docking stations, to provide local control of the system.
28. A robotic device substantially as hereinbefore described with reference to the accompanying drawings.
29. Any novel subject matter or combination including novel subject matter disclosed herein, whether or not within the scope of or relating to the same invention as any of the preceding claims.
EP02729432A 2001-01-11 2002-01-09 Robotic device which moves by alternately connecting each of its ends to docking stations Expired - Lifetime EP1365892B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB0100729 2001-01-11
GBGB0100729.3A GB0100729D0 (en) 2001-01-11 2001-01-11 Robotic arrangement
PCT/GB2002/000050 WO2002055271A1 (en) 2001-01-11 2002-01-09 Robotic device wich moves by alternately connecting each of its ends to docking stations

Publications (2)

Publication Number Publication Date
EP1365892A1 true EP1365892A1 (en) 2003-12-03
EP1365892B1 EP1365892B1 (en) 2004-09-15

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Family Applications (1)

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EP02729432A Expired - Lifetime EP1365892B1 (en) 2001-01-11 2002-01-09 Robotic device which moves by alternately connecting each of its ends to docking stations

Country Status (10)

Country Link
US (1) US20040050247A1 (en)
EP (1) EP1365892B1 (en)
JP (1) JP2004520178A (en)
KR (1) KR20040014447A (en)
AT (1) ATE276075T1 (en)
CA (1) CA2435963A1 (en)
DE (1) DE60201260T2 (en)
ES (1) ES2229139T3 (en)
GB (1) GB0100729D0 (en)
WO (1) WO2002055271A1 (en)

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Also Published As

Publication number Publication date
KR20040014447A (en) 2004-02-14
JP2004520178A (en) 2004-07-08
US20040050247A1 (en) 2004-03-18
DE60201260D1 (en) 2004-10-21
DE60201260T2 (en) 2005-06-30
CA2435963A1 (en) 2002-07-18
ATE276075T1 (en) 2004-10-15
ES2229139T3 (en) 2005-04-16
EP1365892B1 (en) 2004-09-15
WO2002055271A1 (en) 2002-07-18
GB0100729D0 (en) 2001-02-21

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